EP2113067A1 - Configurable field device for use in process automation systems - Google Patents
Configurable field device for use in process automation systemsInfo
- Publication number
- EP2113067A1 EP2113067A1 EP07803358A EP07803358A EP2113067A1 EP 2113067 A1 EP2113067 A1 EP 2113067A1 EP 07803358 A EP07803358 A EP 07803358A EP 07803358 A EP07803358 A EP 07803358A EP 2113067 A1 EP2113067 A1 EP 2113067A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- module
- field device
- function
- modules
- logic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
- H03K19/02—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components
- H03K19/173—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components
- H03K19/177—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components arranged in matrix form
- H03K19/17748—Structural details of configuration resources
- H03K19/17752—Structural details of configuration resources for hot reconfiguration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/02—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation
- G01D3/022—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation having an ideal characteristic, map or correction data stored in a digital memory
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
- H03K19/02—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components
- H03K19/173—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components
- H03K19/177—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components arranged in matrix form
- H03K19/17724—Structural details of logic blocks
- H03K19/17732—Macroblocks
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
- H03K19/02—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components
- H03K19/173—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components
- H03K19/177—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits using specified components using elementary logic circuits as components arranged in matrix form
- H03K19/17748—Structural details of configuration resources
- H03K19/17756—Structural details of configuration resources for partial configuration or partial reconfiguration
Definitions
- field devices are often used, which are used for the detection and / or influence of Prozes s variables.
- field devices are level gauges, mass flowmeters, analysis measuring devices, pressure and temperature measuring devices, etc., which detect the corresponding process variables variable level, flow, pressure, differential pressure, pH value or temperature as sensors.
- z. B valves or pumps through which the flow of a liquid in a pipe section or the level in a container can be changed.
- field devices in modern automation systems are connected via communication networks (HART multidrop, Profibus, Foundation Fieldbus, etc.) to higher-order units (eg, control systems, control units). These higher-level units are used for process control, process visualization, process monitoring and commissioning or for operating the field devices.
- HART multidrop, Profibus, Foundation Fieldbus, etc. communication networks
- higher-order units eg, control systems, control units.
- fieldbus systems are also integrated into enterprise networks that work on Ethernet basis. In this way, process or field device information can be accessed from different areas of a company.
- Foundation Fieldbus or HART is the interoperability and interchangeability of devices from different manufacturers. This allows sensors or actuators from different manufacturers to be used together without difficulty. It is also possible to replace a sensor from a specific manufacturer with a functionally identical sensor from another manufacturer.
- microcontrollers are usually provided in modern field devices.
- the advantage of using microcontrollers is that application-specific software programs that run in these microcontrollers, a variety of functionalities are feasible and program changes are relatively easy to carry out.
- Program-controlled field devices are therefore very flexible. However, this high flexibility is paid for by the disadvantage that the processing speed is relatively slow due to the sequential program execution.
- ASIC Application Specific Integrated Circuit
- a configurable field device is known in which a reconfigurable logic device is provided.
- the logic device is configured with at least one microcontroller, which is also referred to as an embedded controller.
- the required software is loaded into the microcontroller.
- the reconfigurable logic module required in this case must have sufficient resources to fulfill all desired functionalities.
- Such "large" logic devices with a lot of storage space require a corresponding amount of energy.
- My logic devices with a lower energy consumption would mean a significant limitation in the functionality of each field device.
- the essential idea of the invention is to provide in a field device a dynamically reconfigurable logic device, are configured on the individual function modules at the request of running in a microcontroller control program or a hardware-based control unit with a corresponding flow control. If certain function modules are currently not required, their resources are available for use by other function modules.
- the partial reconfiguration of FPGAs has the goal of being able to exchange individual modules within the structure. In the case of a dynamic partial reconfiguration, the replacement takes place during the operation of the field device.
- Function modules by means of a configuration bit stream, which is loaded into the reconfigurable logic module.
- the entire processing unit is designed as a dynamically reconfigurable logic module and divided into a dynamic and a static area, wherein the control unit is permanently configured in the static area.
- At least one functional module is used to evaluate the measurement signal.
- the functional module for evaluating the Mes s signal is a signal filter.
- At least one functional module is used to generate the output value for the communication circuit.
- the function module for generating the output value for the communication circuit corresponds to a fieldbus controller or a FJART modem.
- a function module for controlling a display / control unit.
- the function module is a digital filter, which consists of a basic block and several extension blocks.
- a logic module which has a plurality of logic cells, which are interconnected via electronic switches, wherein functional modules are permanently configured in a static region of the logic module, wherein the logic cells of these functional modules are interconnected via permanent connections, and a dynamic range functional modules are temporarily configured, the logic cells of these function modules are interconnected by electronic switches temporarily.
- the following method steps are performed during the system start-up: Configuration of at least one function module with high priority at a time tl, processing this function module, configuration of at least one function module with medium priority at a time t2, processing this Function module, configuration of at least one function module with low priority at a time t3, execution of this function module
- the number of logic sound circuits of at least one functional module during the system startup phase and the operating phase is different.
- a microprocessor with initialized registers is configured at the beginning of the system startup phase.
- Test module that is used to test functional modules and / or software functionalities of the field device configured.
- the test module is configured only during the production phase of the field device. In a further development of the method according to the invention, the test module is configured cyclically or sporadically on request by the control program.
- the area occupied by a functional module on the reconfigurable logic module is expanded or reduced.
- FIG. 1 is a block diagram of a conventional field device
- FIG. 3 shows a field device with a dynamically reconfigurable logic module
- FIG. 3a shows a field device according to Fig. 3 in a first operating phase in a schematic representation
- FIG. 3b shows a field device according to FIG. 3 in a second operating phase
- FIG. 3c shows a field device according to FIG. 3 in a third operating phase
- Fig. 5 a hardware filter with multiple blocks
- FIG. 6 shows a configurable field device with a plurality of test modules.
- Fig. 1 is a block diagram of a conventional field device is shown in more detail. It is a capacitive level gauge.
- the field device F essentially has an analog sensor circuit SS, a central processing unit ZV with two microcontrollers ⁇ C1 and ⁇ C2 and an analog communication circuit KS.
- the analog sensor circuit SS is used to generate a level-dependent analog measurement signal.
- a sine signal (reference signal) is generated with the aid of a low-pass filter Q from a square-wave signal, which is conducted via a separation unit I to a capacitive probe SD, which serves to detect the process variable "fill level" via a capacitive or inductive coupling signal separation and is designed according to the safety requirements (Ex requirements).
- the independent of the level stimulating voltage signal is digitized in a transducer unit U and evaluated in the microcontroller ⁇ C2. Alternating is a level-dependent current signal (measuring signal) in Microcontroller ⁇ C2 evaluated.
- a current / voltage converter S is necessary, which converts the current signal into a voltage signal, which is then digitized in the converter unit U.
- the two signals are alternately evaluated and processed in the microprocessor ⁇ C2. The switchover between the two signals takes place via the switch SW.
- the digital output signal for generating a sinusoidal signal is in
- Microcontroller ⁇ C2 generated and forwarded to the filter Q via a phase shift unit T.
- the phase shift unit T With the phase shift unit T, the phase of the reference signal can be shifted accordingly to optimally adapt the measurement signal to the requirements of the converter unit U.
- the perfect program sequence of the microcontroller ⁇ C2 is monitored by a watchdog timer K. If a program error occurs, a program reset is triggered via the watchdog timer K.
- a local operation N a data memory O and a power fail reset circuit P are connected to the microcontroller .mu.C2.
- the local operation N allows easy setting of device parameters
- sensor data are stored in the data memory O and the power fail reset circuit P triggers a program reset in the event of a power failure.
- a further microcontroller ⁇ C1 which serves to generate the output values for the process variable and for the actual control of the field device F.
- a watchdog timer D and a power reset circuit J are likewise connected to the microcontroller .mu.C.
- a data memory H, a display / operating unit L, a modem C and a locking unit VE are connected to the microcontroller .mu.C.
- the modem C, the communication circuit KS is connected downstream, which is used for connection to a process control loop (2-wire-control-loop).
- the field device F is designed for HART communication.
- the modem C is therefore a HART modem.
- the communication circuit KS is adapted for HART communication and has a 4-20 mA interface A and a HART communication resistor R on.
- the measured value can be transmitted as the output value of the field device to an external unit via the process control loop.
- an external unit for example, a programmable logic controller is conceivable that processes the output value and actuates actuators accordingly.
- the field device F is also supplied with energy.
- a power supply circuit B to which the individual energy-consuming components of the field device F are connected.
- the manipulated variable for the 4-20 mA current signal is output by the microcontroller ⁇ C1 as a pulse-width-modulated signal (PWM signal).
- a latch unit VE if reset, sets the duty cycle of the PWM signal at 0%.
- the 4-20mA interface A is controlled so that the desired current signal is transmitted via the process control loop.
- both microprocessors ⁇ C1 and ⁇ C2 each have a standardized JTAG interface with the corresponding terminals V1 or V2.
- both microprocessors ⁇ C1, ⁇ C2 each still have a standardized serial UART interface with corresponding connections W1 or W2.
- Application programs consist of a large number of program components, such as measured value processing, diagnostics, operating menu etc.
- the dotted deposited part represents the area of the field device F in which data is processed in digital form.
- the remaining area (shown in dashed lines) is the analog area with several analog circuit components as external components.
- parts of the modem C and the communication circuit KS are realized in an ASIC.
- the level is the decisive process variable for process control.
- the capacity of the probe SD changes.
- the capacitance is determined by means of the sensor circuit SS, which outputs two analog signals (reference signal / Mes s signal), which are converted in the converter unit U into digital signals.
- the digital signals are evaluated in the processing unit ZV, namely in the microcontroller ⁇ C2, in which a special evaluation program for the measurement signal / reference signal takes place. After the evaluation is z.
- B. the current level or the capacity in the container in question as Output value available. This measured value can be forwarded via the analog communication circuit KS and the process control loop to an external unit.
- the processing unit ZV essentially serves to evaluate the
- Measuring signal for generating the output signal for the process variable and for controlling the field device F.
- appropriate programs are processed.
- FIG. 2 shows a block diagram of a configurable field device F 'with a reconfigurable logic device FPGA (field programmable gate array), which corresponds in function to the field device according to FIG.
- FPGA field programmable gate array
- all components of the central processing unit ZV according to FIG. 1 are configured on the reconfigurable logic module FPGA.
- FPGA field programmable gate array
- components alternatives are also shown.
- a Profibus or Foundation Fieldbus controller are conceivable for the locking unit VE and for the phase shifting T.
- display operation unit L, local operation N and sensor data memory O are also corresponding Controls, which are also referred to as "handler" provided.
- This field device F can be configured for different alternative applications.
- a major disadvantage of this field device lies in the high resource requirements and the associated high energy demand.
- Processing unit ZV is designed as a dynamically reconfigurable logic module LB.
- a microcontroller .mu.C, a function module M and a watchdog timer K, two interfaces JTAG and UART and a controller for a memory FLASH are configured.
- FIG. 3 shows the field device Y "according to the invention in different phases of operation according to FIG. 3.
- the components of the field device P v actually required during the relevant operating phase are shown in all three figures shown.
- the logic module LB is divided into two areas, a dynamic area DB and a static area SB.
- a dynamic area DB In the static area is a microcontroller ⁇ C permanently configured, which communicates via a peripheral bus with the UART interface, the JT AG interface and the controller for the memory FLASH.
- one or more functional modules are configured.
- the communication of these modules with the microcontroller ⁇ C takes place via hardware FIFO channels (Fast Simplex Links).
- the individual functional modules can be connected via corresponding configuration
- Bitstreams are configured separately and dynamically at runtime. Normally, the configuration bitstreams are stored in the external memory FLASH. The charging process is initiated by a corresponding control program in the microcontroller .mu.C.
- the field device according to FIG. 3 a is the actual one during a first phase
- Measuring phase shown. Therefore, only the functional modules necessary for the evaluation of the measurement signal are configured. These are an amplitude and phase calculation module Ml, a capacity calculation module M2 and a phase shift module M3. During this phase of operation, the low-pass filter Q, the separation unit I, the probe SD, the converter unit U, the switch SW and the current / voltage converter S are active as external hardware components.
- the function modules M1 and M2 are designed for parallel data processing, the measurement of signal evaluation can be carried out correspondingly quickly.
- a display / operating module M4 is configured as the function module, which controls the display / operating unit L.
- the user is at this time the full display / control functionality of the field device available.
- This function module M4 can, for. B. on the vacant resources of the currently not required function module M2 for the amplitude and phase calculation can be configured.
- the field device F is shown during a third phase.
- this phase communication with an external unit takes place.
- all function modules that are necessary for communication are configured. These are here the function module HART modem M5 and the locking module M6.
- the mode of operation of the field device according to the invention is explained again below.
- the function modules which are actually required are dynamically configured on the logic module LB at the request of the control program running in the microcontroller .mu.C.
- the configuration of the function modules M1-M6 takes place in a simple manner via a configuration bit stream which is loaded from the memory FLASH.
- the static area SB is permanently configured as a control unit (microcontroller ⁇ C) in which the control program runs.
- the dynamic range DB is intended for the individual function modules. Individual functional modules can be successively configured in the same area, so that the dynamic range can be configured in a compact way, despite its high degree of functionality.
- the function modules M1-M6 cover various functionalities such as evaluation of the measurement signal, generation of an output value for the communication circuit, signal filter for the measurement signal, control of the display / control unit.
- a field device with a dynamically reconfigurable logic module offers the advantage that only function modules that are actually required have to be configured.
- Function modules are stored in memory FLASH and can be configured at any time, as appropriate resources are free.
- the field device according to the invention requires relatively little energy and nevertheless allows a high degree of functionality. In addition, it allows very fast data processing, because all resources of the dynamic range DB are available for functionally required functionalities and thus parallel processing is possible.
- the field device Y can be supplied with energy, for example via a fieldbus or a process control loop (loop powered). without a separate power supply line is necessary.
- Field devices with dynamically reconfigurable logic modules offer even more advantages. So z. For example, when a system startup (startup), either all function modules are loaded right from the start, or else the function modules are loaded with a time delay according to their priority. In the first alternative, all functions of the field device are available immediately after system startup.
- the second alternative offers the advantage that the measured value can be quickly changed to
- the function modules which are necessary for the evaluation of the measurement signal eg Ml, M2, M3 and therefore have a high priority are loaded after the system start.
- the display / operation module M4 is loaded, which has a medium priority, and lastly, the modules that have a low priority, such.
- the modules required for communication eg, M5, M6 are loaded. This time delay when loading the function modules is shown in FIG. 4. If the field device is switched off again shortly after the time t 1, the energy that would be required to charge the following functional modules can be saved. Another energy-saving potential is to provide more resources for system startup by tailoring the functional module structure to a fast system startup. So z.
- the area initially provided to the display / control module may be relatively mine. At a later date, the area can then be increased.
- the number of logic sound circuits is directly correlated with the functionality of the respective module. Small area means less functionality or less performance what z. B. has slower processing speed result.
- Reconfigurable logic devices even offer the advantage of loading microcontrollers with a fully initialized register. This eliminates the normally necessary initialization phase, which also has an energy-saving effect.
- Another advantage offered by dynamically reconfigurable logic devices is the ability to dynamically adapt hardware components.
- the filter may consist of one basic block and several identical ones Expansion blocks are constructed. More expansion blocks mean an improved filter function combined with a correspondingly higher energy consumption. According to the desired requirements in terms of energy consumption, performance, available area, more or less expansion blocks are configured on the dynamically reconfigurable logic device.
- the filter on the dynamically reconfigurable logic module is thus adapted to the current requirements.
- the adaptation may depend on different criteria, e.g. Signal-to-noise ratio, available energy, cyclic repetitions, speed of processing, etc.
- Echo tracking on radar level gauges the useful echo signal is determined from the echo signal.
- the echo signal usually still has false echoes and a noise level.
- the later the useful echo signal occurs in the echo signal the greater the distance to be measured, the smaller the amplitude of the wanted echo signal. For reliable identification of the wanted echo signal this is tracked over several measurements.
- the echo curves can be represented in a 3-dimensional space as echo field, in which the temporal shift of the useful echo can be tracked.
- Another example of the use of adaptive hardware is the capacitive level measurement technique.
- field devices are used that operate with different frequencies.
- sporadic switching is made to a high frequency.
- the sampling rate or the number of extension blocks can be adjusted according to the frequency.
- the Fourier transformation like a filter, can also be implemented on the dynamically reconfigurable logic module via a basic block and several extension blocks.
- Logic modules is one of the functions tested for functionality
- test modules are loaded as function modules on the dynamically reconfigurable logic module.
- test modules are memory test modules,
- Test pattern generators modules, etc. which are in the dynamic range DB of
- Logic module LB are loaded (Fig. 7).
- the test modules can, for. B. be used only during the production phase of the field device to test certain functionalities of the field device. Alternatively, for testing during operation of the field device, test modules may be called cyclically, sporadically, or on demand.
- a test template is provided for tests in the production phase, which provides various suitably predefined areas (slots) for test modules.
- the slots have already defined interfaces to the microcontroller .mu.C and have a predefined size.
- the respective test modules are then loaded into the slots. In a slot for memory test modules different modules, depending on the connected memory module can be loaded. As examples of such
- Field device families of a field device manufacturer make recurrent test requests define that can be covered by test templates.
- tests during operation of the field device are of crucial importance with regard to the security of the entire application in which the field device is used. If there is currently too little space available for a test module, the area of other function modules can be temporarily reduced to create space for the required test module. The reloading of the test modules can, as already mentioned above, be cyclic, sporadic or on request. After completing a test, the test modules are removed.
- Test modules are of great importance for self-learning systems in which parameters are monitored and logged by means of test modules. This can also predictions are made about the availability.
- Test modules can also be easily changed, for. Depending on the parameter, depending on the service life, power supply-dependent, temperature-dependent, etc.
- test module determines that individual cells of the dynamically reconfigurable logic module are faulty, they can be overwritten again or the area of these defective cells can be avoided in the future. This is particularly advantageous in high radiation applications where cell imperfections can easily be caused by radiation ("cell overturning").
- Corresponding self-vibration test modules can be used to test sub-functions of the field device so that conclusions can be drawn about the "state" of these sub-functions.
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- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Technology Law (AREA)
- Logic Circuits (AREA)
- Programmable Controllers (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Tests Of Electronic Circuits (AREA)
Abstract
Description
Claims
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006049502 | 2006-10-17 | ||
DE102006049509 | 2006-10-17 | ||
DE102006049501 | 2006-10-17 | ||
PCT/EP2007/059440 WO2008046694A1 (en) | 2006-10-17 | 2007-09-10 | Configurable field device for use in process automation systems |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2113067A1 true EP2113067A1 (en) | 2009-11-04 |
EP2113067B1 EP2113067B1 (en) | 2015-01-28 |
Family
ID=38969440
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07803360A Withdrawn EP2082485A2 (en) | 2006-10-17 | 2007-09-10 | System for the flexible configuration of functional modules |
EP07803358.6A Not-in-force EP2113067B1 (en) | 2006-10-17 | 2007-09-10 | Configurable field device for use in process automation systems |
EP07803359.4A Not-in-force EP2082191B1 (en) | 2006-10-17 | 2007-09-10 | Field device for determining and monitoring a process variable in process automation systems |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07803360A Withdrawn EP2082485A2 (en) | 2006-10-17 | 2007-09-10 | System for the flexible configuration of functional modules |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07803359.4A Not-in-force EP2082191B1 (en) | 2006-10-17 | 2007-09-10 | Field device for determining and monitoring a process variable in process automation systems |
Country Status (3)
Country | Link |
---|---|
US (3) | US20110029254A1 (en) |
EP (3) | EP2082485A2 (en) |
WO (3) | WO2008046696A2 (en) |
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- 2007-09-10 WO PCT/EP2007/059442 patent/WO2008046696A2/en active Application Filing
- 2007-09-10 WO PCT/EP2007/059441 patent/WO2008046695A1/en active Application Filing
- 2007-09-10 WO PCT/EP2007/059440 patent/WO2008046694A1/en active Application Filing
- 2007-09-10 EP EP07803360A patent/EP2082485A2/en not_active Withdrawn
- 2007-09-10 EP EP07803358.6A patent/EP2113067B1/en not_active Not-in-force
- 2007-09-10 US US12/311,854 patent/US20110029254A1/en not_active Abandoned
- 2007-09-10 US US12/311,855 patent/US8271773B2/en not_active Expired - Fee Related
- 2007-09-10 US US12/311,856 patent/US20110025376A1/en not_active Abandoned
- 2007-09-10 EP EP07803359.4A patent/EP2082191B1/en not_active Not-in-force
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See references of WO2008046694A1 * |
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WO2008046696A2 (en) | 2008-04-24 |
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EP2082191A1 (en) | 2009-07-29 |
US20110025376A1 (en) | 2011-02-03 |
WO2008046695A1 (en) | 2008-04-24 |
WO2008046694A1 (en) | 2008-04-24 |
EP2113067B1 (en) | 2015-01-28 |
US20110029254A1 (en) | 2011-02-03 |
WO2008046696A3 (en) | 2008-07-17 |
US20110035576A1 (en) | 2011-02-10 |
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